JP2012125660A - Vacuum cleaner - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vacuum cleaner having a self-travelling function capable of eliminating labor for hooking to obstacles or the like when pulling around a body, and easily avoiding the hooking state.SOLUTION: The vacuum cleaner has a travelling roller 10 coupled to a drive motor 14, a vacuum cleaner body 1 (hereinafter referred to as a body) having an electric fan and a dust collecting function, a hose coupled to the body 1, a controller for driving the drive motor 14 according to the signals from a tensile force detector for detecting the tensile force of the hose and controlling the travelling of the body 1, and an obstacle detector 23 for detecting the obstacles. The controller drives and controls the drive motor 14 so as to move the body 1 forward or backward by a predetermined time TP or a predetermined distance LP according to the signals from the tensile force detector and the obstacle detector 23, thus the vacuum cleaner has the self-travelling function in which the labor for pulling around the body can be reduced, and the hooking state in pulling around the body can be easily avoided.

Description

  The present invention relates to a vacuum cleaner provided with a floor moving type self-propelled mechanism for home use or business use.

  The invention of the electric vacuum cleaner provided with the self-propelled mechanism for reducing the main body drawing (pulling) force when the user cleans the cleaning floor with the floor moving type vacuum cleaner includes the following.

For example, what is disclosed in Patent Document 1 below is an electric cleaning in which an electric blower and a dust collection chamber communicating with the intake side of the electric blower are provided inside, and a connection port communicating with the dust collection chamber is provided in an outer surface portion. A vacuum cleaner main body, a hose having one end connected to the connection port of the vacuum cleaner main body and a hand grip on the other end, and the vacuum cleaner main body provided on the surface to be cleaned Traveling means for enabling, driving means provided in the cleaner body for driving the traveling means, detecting means for detecting a tensile force applied to the hose, and the driving means according to a detection signal of the detecting means Drive control means for controlling the drive control means, the greater the tensile force applied to the hose,
(1) By controlling the driving means to increase the driving speed of the driving means, the user moves a long distance by strongly pulling the hose of the vacuum cleaner, and moves a little by slightly pulling the hose. Can be,
(2) By controlling so that the driving time of the traveling means by the driving means is shortened and the driving speed is increased, the distance that the cleaner body moves when the hose is pulled is independent of the tensile force. Can be the same,
That is, the followability of the user to walking is improved.

  Further, what is disclosed in the following Patent Document 2 includes a traveling roller, a disk that rotates following the rotation of the traveling roller in the forward direction, and has a large number of slits in the peripheral portion, and the traveling roller. Connected drive motor, photodiode and phototransistor disposed on both sides of the disk facing the slit, and driving the drive motor by inputting a pulse signal from the phototransistor generated by the rotation of the disk In addition, by providing a drive motor drive unit for controlling the drive time, for example, when the hose is temporarily pulled and the cleaner body is moved a little, the traveling roller, that is, the disk according to the amount of movement. The phototransistor senses the rotation speed and controls the drive motor according to the rotation speed (that is, according to the user pulling the hose). Circuit controls the driving and a driving time of the drive motor, the running rollers by adjusting the travel distance with advancing rotation, is that followability to the user's stepping is improved.

JP-A-4-92634 JP-A-4-105623

In general households, there are furniture such as kotatsu, desks, chairs, etc. When the floor-moving type electric vacuum cleaner is routed, the main body may be more or less caught on those furniture. When such a catch occurs, the user pulls the hose with all the effort, for example, to remove the main body from the obstacle, or moves to the side of the main body that is caught and moves the main body with hands or feet. It may be caused to disengage from the obstacle causing the catch. It is desired that the troublesomeness of releasing the hooked state as described above for the user should be eliminated together with the tiredness (badness of usability) in normal body routing.

  When the above-mentioned catch occurs while using a conventional vacuum cleaner equipped with a self-propelled mechanism, if the user pulls the hose without noticing it, the control means will pull the hose (or a slight movement of the main body). Therefore, the driving motor is driven, and the driving roller is idled by the grip force between the driving roller and the floor surface, or the driving motor is energized with the rotation of the driving roller being constrained (driving motor constrained). However, the idling of the traveling roller is uncomfortable and uncomfortable, and energization in a restrained state of the drive motor is also a problem for ensuring the strength and durability of the motor and the drive force transmission system.

  When research is repeated to solve these problems, it is necessary to detect that the main body of the vacuum cleaner is caught by an obstacle, and if it is detected, it will be avoided. It has become clear that there is a need for movement.

  In order to solve the above-described conventional problems, the vacuum cleaner of the present invention includes a traveling roller connected to a drive motor, a main body having an electric blower and a dust collecting function, a hose connected to the main body, and a tensile force of the hose. In addition to the control means for driving the drive motor in response to a signal from the tensile force detection means to detect and controlling the travel of the main body, the obstacle detection means for detecting an obstacle that prevents the movement of the main body, The control means drives and controls the drive motor so as to move the main body forward or backward for a predetermined time TP or a predetermined distance LP in accordance with signals from the tensile force detection means and the obstacle detection means. When the tensile force detection means output signal corresponding to absence is set to H1 / H2, and the obstacle detection means output signal corresponding to presence / absence of contact with the obstacle is set to B1 / B2, the above control is performed. The means stops when the output signal is “H1 and B1” (hereinafter referred to as state M1), and stops when the output signal is “H2 and B2” (hereinafter referred to as state M2). In addition, each of the drive motors moves forward when “H1 and B2” (hereinafter referred to as state M3) and reverse when “H2 and B1” (hereinafter referred to as state M4). The control means includes time measuring means for measuring the time when the state M3 and the state M4 are continuously established, and the time when the state M3 and the state M4 are continuously established is When the predetermined time TL is exceeded, the drive motor is controlled to stop.

  First, when the hose is pulled by the user, it is detected by the tension detecting means. The control means drives the drive motor in accordance with a signal from the tension detection means so that the main body of the vacuum cleaner advances by a predetermined time TP or a predetermined distance LP. This control operation can reduce the labor for the user to draw the main body of the vacuum cleaner. Next, for example, when the main body of the vacuum cleaner is caught on furniture or the like while traveling forward, it is detected by the obstacle detection means. The control means drives the drive motor according to the signal from the obstacle detection means so that the main body of the vacuum cleaner moves backward for a predetermined time TP or a predetermined distance LP. By this control operation, the main body of the vacuum cleaner can be detached from the obstacle that hinders forward movement, that is, the hook can be released.

  ADVANTAGE OF THE INVENTION According to the vacuum cleaner of this invention, the vacuum cleaner provided with the comfortable self-propelled mechanism which avoids easily from the catching state during main body routing (running) while reducing the effort of main body routing can be provided.

Overview of the vacuum cleaner around the first embodiment of the present invention Block diagram showing the internal configuration of the vacuum cleaner Operation explanatory diagram when detecting the tensile force of the vacuum cleaner The block diagram which shows the structure of the tensile-force detection means of the same vacuum cleaner Block diagram showing the circuit configuration of the vacuum cleaner

  According to a first aspect of the present invention, a traveling roller connected to a drive motor, an electric blower and a main body having a dust collecting function, a hose connected to the main body, and a signal from a tensile force detecting means for detecting a tensile force of the hose And a control means for driving the main body by driving the drive motor, and an obstacle detection means for detecting an obstacle for preventing the movement of the main body. The control means includes a tensile force detection means and an obstacle detection. Depending on the signal from the means, the drive motor is driven and controlled so that the main body moves forward or backward for a predetermined time TP or a predetermined distance LP, and an output signal of the tensile force detection means corresponding to the presence / absence of the tensile force of the hose is output. When the obstacle detection means output signal corresponding to presence / absence of contact with the obstacle is B1 / B2, the control means indicates that the output signal is “H1 and B "H1 and B2" (hereinafter referred to as state M3) so as to stop if "H2 and B2" (hereinafter referred to as state M2). The drive motor is driven and controlled so as to move forward if it is "H2 and B1" (hereinafter referred to as state M4). Time measuring means for measuring the time when the state M3 and the state M4 are continuously established is provided, and when the time when the state M3 and the state M4 are continuously established exceeds a predetermined time TL, the driving is performed. The vacuum cleaner is provided with a self-propelled mechanism for controlling the motor to stop.

  When the hose is pulled by the user, it is detected by the tension detecting means (for example, see FIGS. 4, 5, and 10 of JP-A-4-92634 for the structure of the tensile force detecting means). The control means drives the drive motor in accordance with a signal from the tension detection means so that the main body of the vacuum cleaner advances by a predetermined time TP or a predetermined distance LP. This control operation can reduce the labor for the user to draw the main body of the vacuum cleaner. Next, for example, when the main body of the vacuum cleaner is caught on furniture or the like while traveling forward, the obstacle detection means detects the catch (contact). The control means drives the drive motor according to the signal from the obstacle detection means so that the main body of the vacuum cleaner moves backward for a predetermined time TP or a predetermined distance LP. This control action allows the vacuum cleaner body to be released from the obstacles that obstruct the forward movement, that is, to release the catch, so that the user can go near the vacuum cleaner body where the catch has occurred and manually hold the body. It is possible to reduce the time and effort required to move the object with a foot or an obstacle.

  In the first invention, the control means sets the output signal of the tensile force detection means corresponding to presence / absence of the tension force of the hose to H1 / H2, and the obstacle detection means corresponds to presence / absence of contact with the obstacle. When the output signal is B1 / B2, if the output signal is “H1 and B1” (hereinafter referred to as state M1), it will be stopped, and “H2 and B2” (hereinafter referred to as state M2). ) To stop, “H1 and B2” (hereinafter referred to as state M3) to advance, and “H2 and B1” (hereinafter referred to as state M4) to reverse. As described above, the drive motors are respectively drive-controlled.

  In the state M1, the control means detects both the signal of the tensile force detection means and the signal from the obstacle detection means, that is, the vacuum cleaner body is pulled by the user and the vacuum cleaner body is an obstacle (furniture). Etc.), for example, when the user pulls the hose and the electric vacuum cleaner main body is in contact (impact) with an obstacle (such as furniture). In such a condition, the control means controls to stop the drive motor.

In the state M2, neither the signal of the tensile force detection means nor the signal of the obstacle detection means is detected by the control means, that is, the vacuum cleaner body is not pulled by the user and the vacuum cleaner body is an obstacle (furniture etc.) This is a case where the user is cleaning the floor surface at a substantially low position, for example. In such a condition, the control means controls to stop the drive motor.

  In the state M3, the control means detects the signal of the tensile force detection means and does not detect the signal from the obstacle detection means, that is, the vacuum cleaner body is pulled by the user and the vacuum cleaner body is the obstacle. This is the case where the user is not in contact (collision) with (furniture, etc.), for example, when the user is moving smoothly by pulling the hose. In such a condition, the control means advances the drive motor forward by a predetermined time TP or a predetermined distance LP.

  In the state M4, when the signal of the tensile force detection means is not detected by the control means and the signal from the obstacle detection means is detected, that is, the vacuum cleaner body is not pulled by the user and the vacuum cleaner body Is in contact (impact) with an obstacle (furniture, etc.). For example, the user pulls the hose and moves to contact (impact) the main body of the vacuum cleaner with the obstruction (furniture, etc.). This is when the tension is stopped. Under such conditions, the control means reversely controls the drive motor by a predetermined time TP or a predetermined distance LP.

  Further, the first invention is provided with a time measuring means for measuring the time when the state M3 and the state M4 are continuously established, and the time when the state M3 and the state M4 are continuously established. When the predetermined time TL is exceeded, the drive motor is controlled to stop.

  When the period in which state 3 and state 4 are continuously established exceeds a predetermined time, it is possible to avoid damage to the floor surface of the drive roller due to idling of the drive motor, or overheating / deterioration due to drive motor lock (restraint) It becomes possible to prevent the reliability of the vacuum cleaner from being lowered.

  According to a second invention, the control means of the first invention comprises a counting means capable of counting the number of times that the state M4 and conditions other than the state M4 occur repeatedly within a predetermined time TA, and the number of times counted is When the predetermined number of times NA is exceeded, the control means is a vacuum cleaner having a feature of performing change control so that the reverse time or reverse distance according to the state M4 becomes long.

  In the state M4, when the signal of the tensile force detection means is not detected by the control means and the signal from the obstacle detection means is detected, that is, the vacuum cleaner body is not pulled by the user and the body is an obstacle. When it is in contact (collision) with (furniture, etc.), for example, when the user pulls and moves the hose and the main body comes into contact (collision) with an obstacle (furniture, etc.) and stops pulling the hose Etc. In such a condition, the control means drives the drive motor to move the drive motor backward by a predetermined time TP or a predetermined distance LP. By this control operation, the main body of the vacuum cleaner is released from the obstacle that obstructs the forward movement, that is, the hook is released, but when a signal from the tension detecting means for detecting the pulling force of the hose is detected (state M3 is established). The control means again controls the drive motor to advance. At this time, when the signal from the obstacle detection means is detected again by the control means (state M4 is established), the drive motor is reversely controlled. By the way, even if it is possible to move backward and move away from the obstacle, if the “avoidance” of the originally intended obstacle is not successful, the forward / backward movement is eventually repeated (conditions other than the state M4 and the state M4 are repeated). It will be. When the control means counts that the conditions other than the state M4 and the state M4 are repeated a predetermined number of times NA within the predetermined time TA, the control means controls to increase the reverse time (or reverse distance) according to the state M4 thereafter. Drive control so that obstacles can be "avoided" by changing the operation.

According to a third aspect of the present invention, the obstacle detecting means according to the first or second aspect of the present invention is a displacement amount in which a bumper provided in the vicinity of the hose connecting portion of the main body and / or in the vicinity of the front surface of the main body is in contact with the obstacle. By detecting this, the state changes, and the vacuum cleaner outputs the state change as an obstacle detection signal to the control means.

  When the floor-moving type vacuum cleaner is moved while pulling the hose, the portion where the hook is generated is often in the vicinity of the hose connecting portion and / or the front portion of the main body. In the vicinity of the outer shell, a bumper is formed of various materials such as hard and soft to prevent damage to the obstacle (furniture, etc.) and the main body. The switch means changes its state when the bumper contacts (impacts) the obstacle and deforms / displaces, and outputs the change as an obstacle detection signal to the control means. The control means drives the drive motor according to the obstacle detection signal so that the main body of the vacuum cleaner moves backward for a predetermined time TP or a predetermined distance LP. This control action allows the vacuum cleaner body to be released from the obstacles that obstruct the forward movement, that is, to release the catch, so that the user can go near the vacuum cleaner body where the catch has occurred and manually hold the body. It is possible to reduce the time and effort required to move the object with a foot or an obstacle.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In addition, this invention is not limited by this embodiment.

(Embodiment 1)
Hereinafter, embodiments of the present invention will be described with reference to FIGS. FIG. 1 is a general view of the vacuum cleaner according to the first embodiment, FIG. 2 is an internal configuration block diagram of the vacuum cleaner body, and FIG. 5 is a circuit configuration block diagram of the vacuum cleaner.

  An electric vacuum cleaner main body (hereinafter referred to as a main body) 1 includes an electric blower 2 that generates suction air and a dust collection unit 3 that collects dust. When an air flow for sucking dust is generated by the rotation of the electric blower 2, dust on the surface to be cleaned is sucked from the suction tool 7, enters the main body 1 through the extension pipe 6, the hose 4, and the dust collecting unit 3. It is collected at. The air that has carried the dust passes through the dust collecting section 3 and is exhausted outside the main body 1. The tip portion of the hose 4 is provided with a grip portion (hand grip 5) when the user performs a cleaning operation. The hand grip 5 is provided with operation means 8 capable of setting the operation mode (strong, medium, weak, etc.) of the electric blower 2, and the operation mode set by the operation means 8 is detected by the control means 20, The control means 20 operates the electric blower 2 in the operation mode set by the electric blower driving means 31.

  A single caster 9 is disposed in front of the bottom of the main body 1 (on the hose attachment side), and two traveling rollers 10 are disposed in the rear. The traveling roller 10 rotates when the drive by the drive motor 14 shown in FIG. 2 is transmitted to the speed reduction means 13, the clutch mechanism 16, and the drive shaft 15, and moves the vacuum cleaner main body 1 in the forward (hose attachment side) direction and / or. It is configured to be able to travel backward.

  A bumper 21 that is biased to the outside of the main body 1 by a coil spring 22 is provided in the vicinity of the hose attachment portion in front of the main body 1. When the bumper 21 contacts (collises) an obstacle such as furniture, the bumper 21 is attached to the main body 1. When the obstacle detection means 23 (switch means) is pushed to the inside side to close (detects that the control means 20 has touched the obstacle by the closing signal), and is separated from the obstacle, the biasing force of the coil spring 22 causes The bumper 21 returns to the outside of the main body 1 (to the original position), and the obstacle detection means 23 opens (detects that the control means 20 has left the obstacle by the opening signal).

Next, an outline operation for detecting the user's tensile force will be described with reference to FIGS. When the user moves forward while holding the hand grip portion 5 in accordance with the vacuuming operation of the floor or the like (Y direction in FIG. 3A), the hose 4 is moved from the state of FIG. 3A to FIG. 3B. It becomes the state of. At this time, a tensile force is generated in the hose 4 by the force of the user's hand and the weight of the main body 1, and the tensile force is applied to the hose connection portion 24 of the main body 1. FIG. 4 is a configuration diagram around the hose connecting portion and the tension detecting means of the present embodiment. When the hose 4 is pulled forward and upward, the coil spring 25 is contracted and the tension detecting means 26 (switch means) is closed (the control means 20 detects that a tensile force has been applied by the closing signal). ). Needless to say, the spring constant of the coil spring 25 is related to the setting of the tensile force targeted for detection. When the pulling force disappears from the hose 4, the hose connection portion 24 is returned into the main body 1 by the biasing force of the coil spring 25, and the pulling detection means 26 is opened to return to the original position (FIG. 3A) (the opening signal). Thus, the control means 20 detects that the tensile force on the hose 4 has disappeared).

  The traveling roller 10 includes a drive motor 14 that is driven to be forward / reversely driven by electric power supplied from the drive unit 19, a speed reduction unit 13 that decelerates the rotation output of the drive motor 14 and rotationally drives the drive shaft 15, and The main body 1 is self-propelled by rotating in accordance with the rotation of the drive shaft 15. Here, the speed reduction means 13 is separated by the clutch mechanism 16 so that the drive shaft 15 can freely rotate (idle) when the drive motor 14 is stopped. When the drive motor 14 is stopped, the traveling roller 10 is separated from the speed reduction means 13 by the clutch mechanism 16 and can be rotated lightly. This is to prevent the rotation of the traveling roller 10 from becoming heavy due to the mechanical load of the speed reduction means 13, such as when the user moves the main body 1 even when the drive motor 14 is stopped. . The control means 20 outputs a phase control timing signal to the electric blower driving means 31 in accordance with the signal from the operation means 8. The electric blower 2 is operated with electric power obtained by phase-controlling the commercial power supply 30 supplied from the electric blower driving unit 31. The control unit 20 supplies electric power to the drive motor 14 by a drive unit 19 (not shown) configured to be capable of outputting positive and negative power by an H bridge or the like, and controls the drive motor 14 to be capable of forward / reverse rotation.

  Further, the control means 20 detects the obstacle corresponding to the presence / absence of contact between the output signal H1 / H2 (closed / open) of the tension detecting means 26 corresponding to presence / absence of the tensile force of the hose 4 and the obstacle. With respect to the output signal B1 / B2 (closed / open circuit) of the means 23, the state M1 [H1, B1] is stopped, the state M2 [H2, B2] is stopped, and the state M3 [H1, B2] is stopped. If it is forward, if it is state M4 [H2, B1], the drive motor 14 is driven and controlled so that it is reverse, and the time means 30 measures the time during which the state M4 is continuously established. Further, the control means 20 counts the number of times that the state M4 and the condition other than the state M4 are repeatedly generated within the predetermined time TA by the counting means 31, and when the counting means 31 counts the predetermined number of times NA times or more, the control means 20 Is controlled so as to increase the reverse time (or reverse distance) according to the state M4.

  About the vacuum cleaner provided with each above components, the operation | movement and an effect | action are demonstrated below. When the main body 1 is stopped in the state M2 [H2, B2] and the hose 4 is pulled by the user and the tension detection means 26 operates (state M3 [H1, B2]), the operation signal is controlled. 20, the control means 20 rotates the drive motor 14 by the drive means 19 to automatically advance the main body 1 for a predetermined time (or a predetermined distance). Since the main body 1 automatically travels forward and approaches the user, the pulling force of the hose 4 is canceled and the tension detecting means 26 is opened (state M2 [H2, B2]). The drive motor 14 is stopped.

When the main body 1 is stopped in the state M2 [H2, B2] and the hose 4 is pulled by the user and the tension detection means 26 is closed (state M3 [H1, B2]), the operation signal is controlled. When the obstacle detection means 23 is closed during the automatic forward travel control of the main body 1 for a predetermined time (or a predetermined distance) by the control means 20 rotationally driving the drive motor 14 by the drive means 19. To state M1 [H1, B1] or state M4 [H2, B1]. The control means 20 stops the drive motor 14 in the state M1 [H1, B1] (when the user forcibly pulls the main body 1 despite being caught by an obstacle, etc.), and stops the drive motor 14. 19 and the drive motor 14 and the like are avoided, and the state M4 [H2,
In the case of B1], the drive motor 14 is driven for a predetermined time (or a predetermined distance) so that the main body 1 moves backward. By the way, the control means 20 can measure the time T when the state M3 and / or the state M4 is continuously established by the measurement means 30. When the tension detection means 26 or the obstacle detection means 23 of the hose 4 continuously detects TL or more, the control means 20 stops the drive signal to the drive means 19 and performs automatic travel control of the vacuum cleaner body 1. I try to stop. The TL is, for example, about 1 to 3 seconds, and more preferably about 1 second.

  In the state M4, when the signal of the tension detection means 26 is not detected by the control means 20 and the signal from the obstacle detection means 23 is detected, that is, the main body 1 is not pulled by the user and the main body 1 is not In the case of contact (collision) with an obstacle (furniture, etc.), for example, the user pulls the hose 4 and moves so that the main body 1 contacts (collision) with the obstacle (furniture, etc.). This is the case when things are stopped. Under such conditions, the control means 20 controls the drive motor 14 to move backward for a predetermined time TP (or a predetermined distance LP). For some reason, (1) the main body 1 cannot move backward and touches an obstacle. In the case where the signal from the obstacle detecting means 23 is not lost because the obstacle remains in contact with the main body 1 even when the vehicle is moved backward (2), the state M4 continues to be established. It will be. The time measuring means 30 measures the time T when the state M4 is established, and when the state M4 is continuously established for about 1 second, the control means 20 controls the drive motor 14 to stop so that the idling of the drive motor 14 is stopped. The reliability of the vacuum cleaner can be ensured, for example, by avoiding damage to the floor surface of the traveling roller 10 caused by the above, or preventing overheating / deterioration due to the lock (restraint) of the drive motor 14.

  Similarly, in the state M3, the control means 20 detects the signal of the tension detection means 26 and does not detect the signal from the obstacle detection means 23, that is, the main body 1 is pulled by the user and the main body This is the case where 1 is not in contact (collision) with an obstacle (such as furniture), for example, when the user continues to move by pulling the hose 4. Under such conditions, the control means 20 controls the drive motor to advance forward for a predetermined time TP or a predetermined distance LP. For some reason, (1) the main body 1 cannot move forward and is caught by an obstacle that cannot be detected, for example. Or (2) If the user continues to pull the hose 4 even after moving forward, the signal from the tension detecting means 26 is not lost, and the state M3 continues to be established. The time measuring means 30 measures the time T when the state M3 is established, and when the state M3 is continuously established for about 1 second, sends the time measurement information or time-out information to the control means 20 and stops the drive motor 14. Control. It is possible to prevent a reduction in the reliability of the vacuum cleaner, such as avoiding damage to the floor surface of the traveling roller 10 due to the idling of the drive motor 14 or preventing overheating / deterioration due to locking (restraint) of the drive motor 14.

Further, the control means 20 is provided with a counting means 31 capable of counting the number of times the state M4 and conditions other than the state M4 are repeatedly generated within a predetermined time TA. Has a function of changing and controlling to increase the reverse time or reverse distance according to the state M4. The predetermined time TA is about 3 to 5 seconds, preferably 3 seconds, and the predetermined number of times is 3 times. In the state M4, when the signal from the tension detecting means 26 is not detected by the control means 20 and the signal from the obstacle detecting means 23 is detected, that is, the main body 1 is not pulled by the user and the main body 1 is in trouble. When the object (furniture, etc.) is in contact (collision), for example, the user pulls the hose 4 and moves to pull the hose 4 because the main body 1 comes into contact (impact) with an obstacle (furniture, etc.). This is the case when Under such conditions, the control means 20 drives the drive motor 14 to move the drive motor 14 backward by a predetermined time TP or a predetermined distance LP. The control operation tries to release the main body 1 from the obstacle that obstructs the forward movement, that is, release the catch, but then detect a signal from the tension detection means 26 that detects the tension force of the hose (state M3 is established) The control means 20 controls the drive motor 14 again. At this time, when the signal from the obstacle detection means 23 is detected again by the control means 20 (the state M4 is established), the drive motor 14 is reversely controlled again. By the way, even if it is possible to move backward and move away from the obstacle, if the “avoidance” of the originally intended obstacle is not successful, the forward / backward movement is repeated as described above (except for the states M4 and M4). (Repeat the conditions). When the control unit 20 counts that the conditions other than the state M4 and the state M4 are repeated a predetermined number of times three times or more within a predetermined time of about 3 seconds, the control unit 20 subsequently determines the reverse time (or reverse distance) of the state M4 The driving operation is controlled so that the obstacle can be surely “avoided” by changing the control operation so as to lengthen the length.

  By the way, as a knack for detaching and avoiding the main body 1 from being caught by obstacles, if the direction of the main body 1 is changed by swinging the hose somewhat during reverse operation once the hook has occurred, the detachment can be further improved. Needless to say, it is also effective to change the pulling direction of the hose 4 for easy advancement and advancement. The effect of changing the pulling direction of the hose 4 by extending the above-mentioned reverse time (distance), and the user can expect to be able to avoid the obstacles by skillfully cutting the hose while wearing a knack. .

  Further, a steering means is provided on the traveling roller 10 or the like, and a direction different from the direction in which the obstacle detection means 23 detects the obstacle (one of the two bumpers disposed on the left and right sides of the main body 1 detects the obstacle). Needless to say, if the main body 1 is configured so as to be able to move backward in the other direction in this case, the ability to detach from and avoid the obstacle is further improved.

  As described above, according to the present invention, when the furniture such as a kotatsu, a desk, or a chair is caught, the user goes to the side of the main body and moves the main body with hands or feet, causing the hook. It is possible to eliminate the annoyance of leaving the obstacle. Not only can the fatigue (unusability) of normal body routing be resolved, it can also be prevented from forcibly driving the drive motor in spite of the occurrence of catching. Therefore, it is possible to provide a vacuum cleaner having a comfortable self-propelled function that can ensure a sense of incongruity, discomfort, and strength and durability of a motor and a driving force transmission system by energization in a restrained state of the driving motor.

  In the embodiment of the present invention, the switch means is used as the tension detecting means. However, for example, the tensile force by the user may be detected linearly using a piezoelectric rubber, a strain gauge or the like. By processing the detected signal with a microcomputer or the like, it is possible to estimate the user's operation force and operation speed, and further, it will be possible to perform self-running control that matches the actual feeling of use.

  Further, the obstacle detection means may use a non-contact ultrasonic sensor, an optical distance measuring sensor, or the like. Control can be performed so that the main body of the vacuum cleaner avoids the obstacle before it comes into contact with an obstacle, and comfort is improved. Further, the obstacle detection means may be arranged in the main body part where the structure is likely to be caught in the structure and arrangement other than the front of the main body of the vacuum cleaner, or in all the front, rear, left and right directions.

  As described above, the present invention is a technique useful for a high value-added and high-function floor moving type vacuum cleaner that reduces the routing effort, and also for a device that follows the movement of the user.

DESCRIPTION OF SYMBOLS 1 Vacuum cleaner main body 4 Hose 10 Traveling roller 14 Drive motor 20 Control means 21 Bumper 23 Obstacle detection means 26 Tension detection means

Claims (3)

A driving roller connected to the drive motor, an electric blower and a main body having a dust collecting function, a hose connected to the main body, and the driving motor is driven in accordance with a signal from a tensile force detecting means for detecting a tensile force of the hose. Control means for controlling the travel of the main body, and obstacle detection means for detecting an obstacle that prevents the movement of the main body. The control means responds to signals from the tensile force detection means and the obstacle detection means. The drive motor is driven and controlled so that the main body moves forward or backward for a predetermined time TP or a predetermined distance LP, and the tension force detection means output signal corresponding to the presence / absence of the tension force of the hose is set to H1 / H2, When the obstacle detection means output signal corresponding to presence / absence of contact with an object is B1 / B2, the control means indicates that the output signal is “H1 and B1” (hereinafter referred to as a state). “H1 and B2” (hereinafter referred to as state M3), so that it is stopped if “H2 and B2” (hereinafter referred to as state M2). The drive motor is driven and controlled so as to move backward if it is “H2 and B1” (hereinafter referred to as state M4), and the control means controls the states M3 and M4. Is provided with time measuring means for measuring the time when the state is continuously established, and the drive motor is stopped when the time when the state M3 and the state M4 are continuously established exceeds a predetermined time TL. A vacuum cleaner equipped with a self-propelled mechanism to control. The control means includes counting means capable of counting the number of times that the state M4 and conditions other than the state M4 repeatedly occur within a predetermined time TA, and when the counted number exceeds a predetermined number NA, the control means The electric vacuum cleaner according to claim 1, further comprising a change control so that a reverse time or a reverse distance according to the state M4 becomes long. The obstacle detection means changes the state by detecting a displacement amount of the bumper provided in the vicinity of the hose connecting portion of the main body and / or near the front surface of the main body in contact with the obstacle, and the state change is detected. The electric vacuum cleaner according to claim 1 or 2, wherein the electric vacuum cleaner is output to the control means as an obstacle detection signal.

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